U.S. patent application number 14/701796 was filed with the patent office on 2016-11-03 for automated vehicle parameter modification based on operator override.
The applicant listed for this patent is Delphi Technologies, Inc.. Invention is credited to John P. Absmeier, Michael H. Laur, Tory P. Smith.
Application Number | 20160318515 14/701796 |
Document ID | / |
Family ID | 57204591 |
Filed Date | 2016-11-03 |
United States Patent
Application |
20160318515 |
Kind Code |
A1 |
Laur; Michael H. ; et
al. |
November 3, 2016 |
Automated Vehicle Parameter Modification Based On Operator
Override
Abstract
A system for automated operation of a host-vehicle includes a
controller configured to operate the host-vehicle during automated
operation of the host-vehicle. The controller is configured to do
so in accordance with a parameter stored in the controller. The
controller is also configured to determine when an operator of the
host-vehicle uses a vehicle-control-input to override the
controller and thereby operate the host-vehicle in a manner
different from that which is in accordance with the parameter. The
controller is also configured to modify the parameter in accordance
with the manner of the operator.
Inventors: |
Laur; Michael H.; (Mission
Viejo, CA) ; Absmeier; John P.; (Capitola, CA)
; Smith; Tory P.; (Mountain View, CA) |
|
Applicant: |
Name |
City |
State |
Country |
Type |
Delphi Technologies, Inc. |
Troy |
MI |
US |
|
|
Family ID: |
57204591 |
Appl. No.: |
14/701796 |
Filed: |
May 1, 2015 |
Current U.S.
Class: |
1/1 |
Current CPC
Class: |
B60W 2540/12 20130101;
B60W 30/18154 20130101; B60W 2754/30 20200201; B60W 2540/18
20130101; B60W 2050/0073 20130101; B60W 50/10 20130101; G05D 1/0061
20130101; G05D 1/0088 20130101; B60W 2554/801 20200201; B60W
2552/05 20200201; B60W 2050/0088 20130101; B60W 2555/60 20200201;
B60W 30/18163 20130101; B60W 2540/10 20130101; B60W 30/12 20130101;
B60W 2540/20 20130101; B60W 2540/215 20200201; B60W 30/16 20130101;
B60W 50/085 20130101 |
International
Class: |
B60W 30/182 20060101
B60W030/182; G05D 1/00 20060101 G05D001/00 |
Claims
1. A system for automated operation of a host-vehicle, said system
comprising: a controller configured to operate the host-vehicle
during automated operation of the host-vehicle and do so in
accordance with a parameter stored in the controller, determine
when an operator of the host-vehicle uses a vehicle-control-input
to override the controller and thereby manually operate the
host-vehicle in a manner different from that which is in accordance
with the parameter, and modify the parameter stored in the
controller for use by the controller during future automated
operation of the host-vehicle, wherein the parameter is modified
based on the manner of the operator.
2. The system in accordance with claim 1, wherein the
vehicle-control-input includes a brake-pedal, an accelerator-pedal,
and a steering-wheel operable to override the controller.
3. The system in accordance with claim 1, wherein the system
includes a turn-signal lever, a switch, and a microphone operable
to instruct the controller to modify the parameter.
4. The system in accordance with claim 1, wherein the system
includes a detector configured to detect a distance to an object
proximate to the host-vehicle and provide a distance-signal to the
controller indicative of the distance, and the controller is
configured to operate the host-vehicle in accordance with the
distance-signal and a minimum-distance-parameter, wherein the
controller modifies the minimum-distance-parameter when the
operator overrides the controller and operates the host-vehicle in
a manner that prevents the controller from operating the
host-vehicle in accordance with the minimum-distance-parameter.
5. The system in accordance with claim 4, wherein the
minimum-distance-parameter includes a forward-minimum-distance, a
rearward-minimum-distance, a leftward-minimum-distance, and a
rightward-minimum-distance.
6. The system in accordance with claim 5, wherein the controller
increases the forward-minimum-distance of the
minimum-distance-parameter when the operator presses a brake-pedal
while the distance-signal indicates that a forward-distance to the
object is greater than the forward-minimum-distance.
7. The system in accordance with claim 5, wherein the controller
decreases the forward-minimum-distance of the
minimum-distance-parameter when the operator presses an
accelerator-pedal while the distance-signal indicates that a
forward-distance to the object is not greater than the
forward-minimum-distance.
8. The system in accordance with claim 4, wherein the detector is
further configured to determine a classification of the object, and
the controller selects the minimum-distance-parameter based on the
classification of the object.
9. The system in accordance with claim 8, wherein the
classification of the object includes a vehicle-size, a
vehicle-type, a roadway-structure, and a lane-marking.
10. The system in accordance with claim 1, wherein the system
includes a path-planner device used by the controller to select a
host-travel-lane for the host-vehicle based on a
lane-preference-parameter, and the controller is configured to
modify the lane-preference-parameter when the operator operates the
host-vehicle to steer the host-vehicle into a different-lane.
11. The system in accordance with claim 10, wherein the
lane-preference-parameter for a three-lane roadway is initially set
to right-lane, and the lane-preference-parameter for a three-lane
roadway is modified to center-lane after the operator overrides the
controller by moving the steering-wheel to steer the host-vehicle
from a right lane of the three-lane roadway to a center lane of the
three-lane roadway.
12. The system in accordance with claim 10, wherein the
lane-preference-parameter for a three-lane roadway is initially set
to right-lane, and the lane-preference-parameter for a three-lane
roadway is modified to center-lane after the operator instructs the
controller by operating the turn-signal lever to steer the
host-vehicle from a right lane of the three-lane roadway to a
center lane of the three-lane roadway.
13. The system in accordance with claim 1, wherein the system
includes a path-planner device used by the controller to select a
host-travel-lane for the host-vehicle based on a
lane-preference-parameter.
14. The system in accordance with claim 13, wherein the controller
is configured to modify the lane-preference-parameter when the
operator operates a turn-signal lever to instruct the controller to
modify the lane-preference parameter.
15. The system in accordance with claim 13, wherein the controller
is configured to modify the lane-preference-parameter when the
operator turns the steering wheel to override the controller and
thereby instruct the controller to modify the lane-preference
parameter.
16. The system in accordance with claim 13, wherein the
path-planner device is used by the controller to execute an
anticipatory-lane-change based on an
anticipation-distance-parameter, and the controller is configured
to modify the anticipation-distance-parameter when the operator
operates the host-vehicle to steer the host-vehicle in a manner
that is not in accordance with the
anticipation-distance-parameter.
17. The system in accordance with claim 1, wherein the controller
is configured to operate the host-vehicle to enter an intersection
while waiting to make a left-turn based on an
intersection-left-turn-parameter, and the controller is configured
to modify the intersection-left-turn-parameter when the operator
presses the brake-pedal to prevent the host-vehicle from entering
the intersection while waiting to make the left-turn.
Description
TECHNICAL FIELD OF INVENTION
[0001] This disclosure generally relates to an automated operation
system of a host-vehicle, and more particularly relates to
modifying control parameters when the operator overrides the
automated operation of the host-vehicle to operate the host-vehicle
in a manner that is different from how a controller of the system
would operate the host-vehicle, i.e. not in accordance with
pre-existing or pre-programmed parameters used by the
controller.
BACKGROUND OF INVENTION
[0002] Automated or autonomous operation of a host-vehicle such as
an automobile has been suggested. The degree of automation includes
full automation where the operator of a host-vehicle does not
directly control any aspect of vehicle operation. That is, the
operator is essentially a passenger, and a controller in the
host-vehicle takes control of all steering, braking, and engine
control (e.g. acceleration) operations of the host-vehicle. Various
vehicle control decisions made by the controller, such as how close
to follow behind a forward-vehicle, or what travel-lane of a
multi-lane roadway is used, are based, at least in part, on
pre-programmed parameters. However, the controller may be
pre-programmed with parameters that are not entirely to the liking
of the operator of the host-vehicle. For example, the operator may
feel the controller is tail-gating and want increased separation
between the host-vehicle and another vehicle in front of the
host-vehicle. In other words, the operator may be more comfortable
if the controller did not operate host-vehicle in accordance with a
forward-minimum-distance parameter initially programmed into the
controller, but used an increased value for the
forward-minimum-distance parameter.
SUMMARY OF THE INVENTION
[0003] Described herein is an automated vehicle system that
modifies various decision parameter values used by a controller for
automated operation of a host-vehicle. One or more parameters may
be modified if the operator of the vehicle takes some action to
operate the host-vehicle in a manner that is different from how the
controller would otherwise operate the host-vehicle. That is, the
improved system described herein uses `directed learning`
techniques to decrease the frequency of system takeovers by an
operator. The system described herein enables a sophisticated
tagging and learning structure that allows the operator to make
adjustments to the driving style of the automated vehicle system
over time.
[0004] In accordance with one embodiment, a system for automated
operation of a host-vehicle is provided. The system includes a
controller configured to operate the host-vehicle during automated
operation of the host-vehicle. The controller is configured to do
so in accordance with a parameter stored in the controller. The
controller is also configured to determine when an operator of the
host-vehicle uses a vehicle-control-input to override the
controller and thereby operate the host-vehicle in a manner
different from that which is in accordance with the parameter. The
controller is also configured to modify the parameter in accordance
with the manner of the operator.
[0005] Further features and advantages will appear more clearly on
a reading of the following detailed description of the preferred
embodiment, which is given by way of non-limiting example only and
with reference to the accompanying drawings.
BRIEF DESCRIPTION OF DRAWINGS
[0006] The present invention will now be described, by way of
example with reference to the accompanying drawings, in which:
[0007] FIG. 1 is a diagram of a system for automated operation of a
host-vehicle in accordance with one embodiment;
[0008] FIG. 2 is top view of a traffic scenario encountered by the
system of FIG. 1 in accordance with one embodiment;
[0009] FIG. 3 is top view of a traffic scenario encountered by the
system of FIG. 1 in accordance with one embodiment; and
[0010] FIG. 4 is top view of a traffic scenario encountered by the
system of FIG. 1 in accordance with one embodiment.
DETAILED DESCRIPTION
[0011] The automated vehicle system described herein improves on
the problems describe above by providing a machine learning
structure that allows for `directed learning` by a controller so
the system can adapt to the driving preferences of an operator over
time. For example, the operator may engage a traffic jam assist
system, but be uncomfortable with how the system is handling a
certain situation. In prior examples of automated vehicle systems,
the only option is for the operator to terminate automated
operation by the system.
[0012] The improved system described herein allows the operator to
make adjustments to how an automated system handles certain
situations. When the operator does something to indicate that a
change is desired, the system tags the correction and saves
information relevant one or more pre-existing parameters. For
example, suppose a vehicle is navigating a busy interstate during
rush hour using a traffic jam assist system. The driver sees an
oversize load vehicle ahead in a neighboring lane that nearly
protrudes into the vehicle's home lane. In prior systems, the
operator either needs to trust the system to leave adequate space,
or the operator must terminate the system, then operate the
host-vehicle drive manually, and then later reengage the
system.
[0013] The improved system described herein allows the operator to
temporarily suspend control of the throttle, steering, and brakes
while a corrective action is taken. The driver then has full
control of the vehicle to pass by the oversize vehicle, leaving a
comfortable amount of space. Various sensor and GPS data are tagged
and stored during this corrective action, which is cued by the
action of the operator. Once the oversize vehicle has been passed
and the operator is comfortable once more, the operator may
reengage the system. It is emphasized that the system is still
analyzing the driving environment with all of its sensors and
tagging the data while the operator manually performs the
corrective maneuver.
[0014] The trajectory taken by the operator can be compared to the
planned trajectory from the vehicle controller, both in relation to
the driving conditions and nearby vehicles, pedestrians, etc. Over
time, patterns emerging from these data can be analyzed to allow an
automated system to better operate the host-vehicle in accordance
with the driving preferences of the operator. These driving
preference parameters could also be used in the development and
testing phase of an automated vehicle system to create different
default settings for automated functions, or by end-user (operator)
for personalization of their vehicles.
[0015] FIG. 1 illustrates a non-limiting example of a system 10 for
automated operation of a host-vehicle 12. In general, the system 10
is able to control the speed, steering, brakes, and other aspects
of operation of the host-vehicle 12. The means for doing these
tasks (steering and speed control) are well-know and not described
in any particular detail herein. However, the system 10 described
herein is not limited to these tasks, and it is contemplated that
the system may also control other vehicle functions such as
operating the turn-signals of the host-vehicle, and/or selecting
between high-beam and low-beam headlights. While the improvements
described herein are presented in the context of a fully automated
vehicle, it is contemplated that the improvements could be applied
to vehicles that are not fully automated, i.e. vehicles that are
only partially automated, as will become apparent as the system 10
is described in more detail below.
[0016] The system includes a controller 14 configured to operate
the host-vehicle 12 during automated operation of the host-vehicle
12. The controller 14 may include a processor (not shown) such as a
microprocessor or other control circuitry such as analog and/or
digital control circuitry including an application specific
integrated circuit (ASIC) for processing data as should be evident
to those in the art. The controller 14 may include memory,
including non-volatile memory, such as electrically erasable
programmable read-only memory (EEPROM) for storing one or more
routines, thresholds and captured data. The one or more routines
may be executed by the processor to perform steps for operating the
host-vehicle 12 as described herein.
[0017] The controller 14 may be configured to receive signals from
a detector 16 that may include, but is not limited to: a light
detection and ranging (LIDAR) unit, a radio detection and ranging
(RADAR) unit, and/or an optical sensor unit, e.g. a camera. The
detector 16 may output raw signals such as a time-interval for a
radio signal to return to the RADAR unit, or a processed signal
such as a distance to and/or relative size and/or a classification
(large, small, in the path of the host vehicle, etc.) of an object
detected by the detector 16. In the example presented herein, the
detector 16 is characterized as outputting a processed signal only
to simplify the description of the system 10. It is contemplated
that the controller 14 may be configured to do all of the signal
processing.
[0018] With the signals from the detector 16, the controller 14 may
be able to steer and control the speed of the host-vehicle 12 along
a roadway and not collide with objects such as other vehicles or
roadway structures. In general, the controller 14 is configured to
operate the host-vehicle 12, and do so (i.e. operate the host
vehicle) in accordance with a parameter 18 stored in the controller
14. As used herein, the phrase `in accordance with` the parameter
18 means that the controller uses the parameter 18 as, for example,
a threshold to determine or decide which course of action should be
taken with regard to operating the host-vehicle 12. For example, if
the host-vehicle 12 is closer to an object than a
minimum-distance-parameter 20, the controller may slow-down or
steer the host-vehicle 12 so the minimum-distance-parameter 20 is
not violated, i.e. is adhered to. That is, the controller 14
operates the host-vehicle 12 in accordance with the
minimum-distance-parameter 20.
[0019] The controller 14 is further configured to determine when an
operator 22 of the host-vehicle 12 uses a vehicle-control-input 24
to override the controller 14 and thereby operate the host-vehicle
12 in a manner different from that which is in accordance with the
parameter 18. In one embodiment of the system 10, the
vehicle-control-input 24 includes: a brake-pedal 28, an
accelerator-pedal 30, and a steering-wheel 26, which are operable
by the operator 22 to override what the controller 14 is doing to
operate the host-vehicle 12.
[0020] During normal automated operation of the host-vehicle 12,
operations such as steering by the wheels, deceleration by the
brakes, and acceleration by the engine of the host-vehicle 12 are
performed in accordance with the parameter 18, e.g. one or more of
the individual parameters shown in FIG. 1. However, the system 10
is also configured so the operator 22 can forcibly over-power the
intent or normal course of action of the controller 14 by, for
example, moving (i.e. rotating) the steering-wheel 26, pressing on
the brake-pedal 28, and/or pressing in the accelerator-pedal 30.
For example, the operator 22 may by brute-force override the
steering of the host-vehicle 12 by the controller 14 and rotate the
steering-wheel 26 to steer the host-vehicle 12 into a travel-lane
that is not in accordance with the parameter 18.
[0021] The controller 14 is further configured to temporarily or
permanently release control of the host-vehicle 12 when the
controller 14 detects that, for example, the steering-wheel 26 is
being moved or rotated by the operator 22, and modify the parameter
18 in accordance with the manner of the operator. As used herein,
the phrase `the manner of the operator` is used to describe or
characterize what the operator 22 desires regarding how the
host-vehicle 12 is to be operated, and may alternatively be stated
as `in accordance with the apparent intent of the operator`.
Examples of how the parameter 18, i.e. one or more of the
individual parameters, can be modified by the operator 22
overriding the controller 14 are presented later in this
description.
[0022] The controller 14 may be further configured to resume
automated operating of the host-vehicle 12 after, for example, the
operator 22 actuates a switch or push-button, or gives a voice
command to resume automated driving. Alternatively, the controller
14 may be configured to automatically resume operation of the
host-vehicle 12 if the operator 22 operates the host-vehicle 12 in
accordance with the parameter 18 for a period of time, twenty
seconds for example.
[0023] As an alternative to the brute-force overriding of the
controller 14 by the operator 22 described above, the system 10 may
include one or more of: a turn-signal lever 34, a switch 32, and a
microphone 36; where these devices are operable by the operator 22
to indicate that operation of the host-vehicle in a manner
different from the parameter 18 is desired. Use of these devices
may then be used to indirectly `instruct` the controller 14 to
modify the parameter 18. For example, if the operator 22 wants the
controller 14 to steer the vehicle into an adjacent-travel-lane,
the operator 22 may operate the turn-signal lever 34 to indicate to
the controller 14 that a lane change is desired, and the controller
14 may change the value of a lane-preference-parameter 38.
[0024] In some circumstances is may not be entirely self-evident to
distinguish when the operator 22 is overriding the controller 14 to
modify the parameter 18 from when the operator 22 is overriding the
controller to address a special circumstance but the operator 22
does not want to modify the parameter. So the intent of the
operator 22 is clear with regard to modifying the parameter 18, the
switch 32 (e.g. a push-button) may be actuated by the operator to
indicate that a learn-mode is to be entered where the controller 14
is modify the parameter 18 in accordance with the manner that the
operator 22 operates the host-vehicle. The termination of
learn-mode may also be clearly indicated by the operator again
actuating the switch 32.
[0025] FIG. 2 illustrates a non-limiting example of a roadway 40
that defines a host-travel-lane 42 traveled by the host-vehicle 12,
and an adjacent-travel-lane 44 next to or adjacent the
host-travel-lane 42. As noted above, the system 10 includes a
detector 16 configured to detect a distance 46 to an object 48 (a
truck in this example) proximate to the host-vehicle 12, and
provide a distance-signal 50 to the controller 14 indicative of the
distance 46. The controller 14 may then be configured to operate
the host-vehicle 12 in accordance with the distance-signal 50 and
the minimum-distance-parameter 20 (FIG. 1). The controller 14 may
modify the minimum-distance-parameter 20 when the operator 22
overrides the controller 14 such that the operator 22 operates the
host-vehicle 12 in a manner that prevents the controller 14 from
operating the host-vehicle 12 in accordance with the
minimum-distance-parameter 20.
[0026] The minimum-distance-parameter 20 may include a
forward-minimum-distance, a rearward-minimum-distance, a
leftward-minimum-distance, and a rightward-minimum-distance. By way
of example and not limitation, a suitable initial value for the
forward-minimum-distance of the minimum-distance-parameter 20 may
be twenty meters. By way of further example, the controller 14 may
increase the forward-minimum-distance of the
minimum-distance-parameter 20 when the operator 22 presses the
brake-pedal 28 while the distance-signal 50 indicates that a
forward-distance (the distance 46) to the object is greater than
the forward-minimum-distance of the minimum-distance-parameter 20.
That is, if the operator 22 presses the brake-pedal 28 while the
distance 46 between the host-vehicle 12 and the object 48 is
greater (e.g. thirty meters) than the forward-minimum-distance of
the minimum-distance-parameter 20, then the controller 14
interprets that to mean that the operator 22 does not want to be
any closer than the present value of the distance 46, so the
controller 14 increases the forward-minimum-distance of the
minimum-distance-parameter 20 to thirty meters, and uses that
modified value for future instances when the host-vehicle 12
approaches an other-vehicle from behind the other-vehicle.
[0027] The controller 14 may change or modify the parameter 18 (the
forward-minimum-distance of the minimum-distance-parameter 20 in
this example) after the first occurrence of the operator 22
pressing the brake-pedal, or the controller 14 may wait to modify
the parameter 18 until after a similar situation occurs a plurality
of times, three for example. When the controller 14 modifies the
parameter 18, the modification may be such that the new value of
the parameter 18 is equal the value indicated by the manner of the
operator, thirty meters in this example. Alternatively, the
controller 14 may modify the parameter 18 to a value part-way or a
percentage between the initial value of the parameter (twenty
meters) and the value indicated by the manner of the operator
(thirty meters), e.g. sixty percent which is twenty-six meters for
this example. The degree to which a parameter 18 is modified
because of a single incident or multiple repeated incidents of the
operator 22 overriding the controller 14 is preferably determined
by empirical testing of the system 10 using a variety of occupants
as test subjects.
[0028] As suggested above, the switch 32 may be used by the
operator 22 to engage and disengage a learn-mode of the controller
14. If the learn mode is engaged, the controller 14 may modify the
parameter 18 to a value equal to the present condition. For the
previous example, the forward-minimum-distance of the
minimum-distance-parameter 20 would be immediately set to thirty
meters when the learn mode is engaged by the operator 22 actuating
the switch 32.
[0029] In contrast to the previous example where the
forward-minimum-distance is increased, the controller 14 may also
be configured to decrease the forward-minimum-distance of the
minimum-distance-parameter 20 when the operator 22 presses the
accelerator-pedal 30 while the distance-signal 50 indicates that a
forward-distance (the distance 46) to the object 48 is not greater
than the forward-minimum-distance of the minimum-distance-parameter
20. For example, if another vehicle is entering the roadway 40 from
an entrance ramp (not shown), the operator 22 may elect to
accelerate and thereby temporarily decrease the distance 46 to make
room for the entering vehicle behind the host-vehicle 12. If the
operator 22 releases the accelerator-pedal 30 after a short time,
less than twenty seconds for example, the controller 14 may resume
control and re-establish the distance 46 to the
forward-minimum-distance of the minimum-distance-parameter 20, and
the controller 14 may not decrease the stored value of the
forward-minimum-distance of the minimum-distance-parameter 20.
However, if the operator 22 operates the accelerator-pedal 30 such
that the distance 46 is maintained at some value less than the
forward-minimum-distance of the minimum-distance-parameter 20 for a
longer period of time, thirty seconds for example, then the
controller 14 may modify the value of the forward-minimum-distance
of the minimum-distance-parameter 20 to a new value that
corresponds to the distance 46 established by the operator 22.
[0030] The detector 16 may also be configured to determine a
classification 52 of the object 48. As used herein, the
classification 52 of the object 48 may include any characteristic
of the object 48 that may be useful to improve automated operation
of the host-vehicle 12. For example, the classification 52 of the
object 48 may include one or more of: a vehicle-size (e.g. small,
medium, large), a vehicle-type (e.g. motorcycle, passenger car,
heavy-truck), a roadway-structure (e.g. sign-post, bridge abutment,
curb, barrier), and a lane-marking (solid line, dashed line,
arrow). The controller 14 may be further configured to select the
minimum-distance-parameter 20 based on the classification 52 of the
object 48. For example, the controller 14 may increase the
forward-minimum-distance of the minimum-distance-parameter 20 if
the object 48 is a motorcycle because some motorcycles can stop
faster than a typical automobile. By way of another example, the
controller may increase the rightward-minimum-distance of the
minimum-distance-parameter 20 if the detector 16 classifies an
object stopped on the right-shoulder (not shown) of the roadway 40
as an emergency-vehicle (e.g. police or ambulance) or a
construction-vehicle.
[0031] In another embodiment, the system 10 may include a
path-planner device 54 used by the controller 14 to select a route
for the host-vehicle 12 to follow to a destination selected by the
operator 22. The path-planner device 54 may also select the
host-travel-lane 42 for the host-vehicle 12 based on the
lane-preference-parameter 38. The controller 14 may be configured
to modify the lane-preference-parameter 38 when the operator 22
operates the host-vehicle 12 to steer the host-vehicle 12 into a
different-lane, e.g. the adjacent-travel-lane 44. For example, the
lane-preference-parameter 38 for a three-lane roadway may initially
be set to `right-lane` (the host-travel-lane 42), and the
lane-preference-parameter 38 for a three-lane roadway is modified
to `center-lane` (the adjacent-travel-lane 44) after the operator
22 overrides the controller 14 by moving the steering-wheel 26 to
steer the host-vehicle 12 from a right lane of the three-lane
roadway to a center lane of the three-lane roadway.
[0032] The operator 22 may want to modify the
lane-preference-parameter 38 because there is a lot of traffic
entering or turning off the roadway 40 from/to the right side of
the roadway 40, and the operator 22 prefers to travel in the center
lane to avoid annoying changes in speed to accommodate such
traffic. The operator 22 may actuate the switch 32 to engage and
disengage the previously discussed learn-mode so the controller 14
instantly changes the lane-preference-parameter 38 as opposed to
requiring the operator 22 to `hold` the host-vehicle 12 in the
center-lane for an extended period of time.
[0033] Alternatively, the lane-preference-parameter 38 for a
three-lane roadway may be modified to center-lane after the
operator 22 `instructs` the controller 14 by operating the
turn-signal lever 34 to steer the host-vehicle 12 from the right
lane of the three-lane roadway to the center lane of the three-lane
roadway. Another alternative is for the operator 22 to use the
microphone 36 to give the controller 14 a voice command such as
"travel in center lane".
[0034] FIG. 3 illustrates another non-limiting example of a traffic
scenario on the roadway 40. If the host-vehicle 12 is traveling in
the center lane, information from the path-planner device 54 may be
used by the controller 14 to execute an anticipatory-lane-change 56
based on an anticipation-distance-parameter 58 (FIG. 1). By way of
example and not limitation, the host-vehicle 12 may be approaching
an exit-ramp 60 that the path-planner device 54 plans to follow, so
the host-vehicle 12 should move to the right lane in anticipation
of exiting the roadway 40 even though the lane-preference-parameter
38 is set to center-lane. The controller 14 may initially be
configured with the anticipation-distance-parameter 58 set to, for
example, two-thousand meters so the controller 14 steers the
host-vehicle 12 into the right lane two-thousand meters before the
exit-ramp 60. However, if there are entrance ramps (not shown) or
other exit ramps (not shown) located less than two-thousand meters
before the exit-ramp 60, the operator 22 may prefer to stay in the
center lane until after the entrance ramps or other exit ramps have
been passed.
[0035] To override the controller 14, the operator 22 may steer the
host-vehicle to remain in the center lane until the exit-ramp 60 is
five-hundred meters away, and then either actively make the lane
change, or allow the controller 14 to resume control of the
host-vehicle and make the anticipatory-lane-change 56. According,
the controller 14 may be configured to modify the
anticipation-distance-parameter 58 when the operator 22 operates
the host-vehicle 12 to steer the host-vehicle 12 in a manner that
is not in accordance with the anticipation-distance-parameter 58.
It is contemplated that GPS and map data from the path-planner
device 54 may also be recorded so that the change to the
anticipation-distance-parameter 58 is only applied to the specific
geographic location proximate to the location of the exit-ramp 60,
and not applied to every situation when the controller executes an
anticipatory-lane-change 56 in preparation for some other up-coming
turn or exit on some other roadway.
[0036] FIG. 4 illustrates another non-limiting example of a traffic
scenario on the roadway 40. If the host-vehicle 12 is preparing to
make a left-turn 64, the controller 14 may be configured to enter
an intersection 62 while waiting to make the left-turn 64 based on
an intersection-left-turn-parameter 66 (FIG. 1). For example, the
controller 14 may be configured to move the host-vehicle 12 forward
to a wait-line 68, and hold position until the controller 14 is
confident about the intentions of an other-vehicle 70 approaching
or preparing to enter the intersection 62. It should be understood
that the wait-line 68 is not a road surface marking in the
intersection 62, but is rather an imaginary line observed by the
controller 14 for operating the host-vehicle. The intersection may
be a four-way stop, a two-way stop were either the host-vehicle 12
and the other-vehicle 70 are required to stop, a two-way stop were
traffic traveling perpendicular to the illustrated direction of
travel of the host-vehicle 12 and the other-vehicle 70 is required
to stop, or a traffic-light (not shown) controlled
intersection.
[0037] The controller 14 may be initially configured to proceed
forward to the wait-line 68 based on an initial value of the
intersection-left-turn-parameter 66 stored in the controller 14.
However, if the operator 22 is unsure about the intentions of the
other-vehicle 70 the operator may press on the brake-pedal 28 to
prevent the host-vehicle 12 from moving forward from the position
illustrated in FIG. 4. For example, the operator 22 may sense that
the operator of the other-vehicle 70 is in a hurry to also make a
left turn, so the operator 22 may elect to wait and not block the
intersection 62. Accordingly, the controller 14 may be configured
to modify the intersection-left-turn-parameter 66 when the operator
22 presses on the brake pedal to apply the brakes and thereby
prevent the controller 14 from operating the host-vehicle 12 to
enter the intersection 62 while waiting to make the left-turn
64.
[0038] Accordingly, a system 10 for automated operation of a
host-vehicle 12 and a controller 14 for the system 10 is provided.
When the controller 14 is initially installed in the host-vehicle
12, the parameter 18 or a variety of parameters may be
pre-programmed into the controller 14. However, since the driving
habits of various people differ, it is likely that the behavior of
the host-vehicle 12 during automated operation will not always be
in accordance with the preferences of the operator 22 of the
host-vehicle 12. To address this problem, the system 10, or more
specifically the controller 14, is configured so that the
controller 14 can learn the preferences of the operator 22, and
modify one or more of the relevant parameters so that over time the
controller 14 learns to operate the host-vehicle 12 in a manner
that is more to the liking of the operator 22.
[0039] While this invention has been described in terms of the
preferred embodiments thereof, it is not intended to be so limited,
but rather only to the extent set forth in the claims that
follow.
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